#include "stair_ctrl/state_estimator.hpp"

int main(int argc, char **argv)
{
    ros::init(argc, argv, "state_estimator");
    ros::NodeHandle nh("~");

    std::string low_state_topic, odom_topic, parent_frame, child_frame;
    int threshold;
    nh.param<std::string>("low_state_topic", low_state_topic, "/ros_udp_comm_low/low_state");
    nh.param<std::string>("odom_topic", odom_topic, "odom");
    nh.param<std::string>("parent_frame", parent_frame, "odom");
    nh.param<std::string>("child_frame", child_frame, "base_ekf");
    nh.param<int>("threshold", threshold, 10);

    stateEstimator state_estimator = stateEstimator(&nh, low_state_topic, odom_topic, parent_frame, child_frame, threshold);
    state_estimator.start();
}